changes for GraspingManager

source/RobotAPI/libraries/core/Trajectory.cpp

source/RobotAPI/libraries/core/Trajectory.h

source/RobotAPI/libraries/diffik/GraspTrajectory.cpp

...braries/natik/CartesianNaturalPositionControllerProxy.cpp

...libraries/natik/CartesianNaturalPositionControllerProxy.h